6POSITIONING CONTROL

(2)Re-starting after stop

(a)If it stopped by the stop command or stop cause (except change speed to speed "0"), re-starting is not possible.

However, it stopped by the STOP input of the Q172LX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON during speed/position switching control, re-starting is possible using VPSTART instruction.

(b)If it stopped by the speed change to speed "0" using CHGV instruction, re- starting is possible by executing the speed change to speed other than "0".

V

 

 

Speed before speed change

 

Speed after re-starting

 

 

 

 

 

 

 

 

 

 

2)

 

 

t

 

 

 

 

 

 

 

 

 

 

 

 

 

Stop by the speed

 

Re-starting

 

 

 

 

 

change to speed "0"

 

 

 

 

Servo program start

 

ON

 

 

 

 

 

 

 

 

 

 

Start accept flag

OFF

1)

 

3)

 

(M2001 to M2032)

 

 

 

 

 

 

CHGV instruction

Speed changing flag (M2061+n)

Stop command (M3200+20n)

1)The start accept flag (M2001 to M2032) remains on after stop by the speed change to "0".

2)Re-starting by changing the speed again.

3)However, if the start accept flag (M2001 to M2032) turns off by turning on the stop command (M3200+20n), re-starting is not possible even if make a speed change once again.

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